evalGoal

Syntax

Description

[Hspec,fval]
= evalGoal(Req,T)
returns the normalized value fval of a tuning goal evaluated
for a tuned control system T. The evalGoal
command also returns the transfer function Hspec used to
compute this value.

ST1 is a tuned version of the slTuner interface to the control system. ST1 contains the tuned values of the tunable parameters of the MIMO controller in the model.

Evaluate the margin goal for the tuned system.

[hspec,fval] = evalGoal(Req3,ST1);
fval

fval =
0.5140

The normalized value of the tuning goal is less than 1, indicating that the tuned system satisfies the margin requirement. For more information about how the normalized value of this tuning goal is calculated, see the TuningGoal.Margins reference page.

Evaluate the tracking goal for the tuned system.

[hspec,fval] = evalGoal(Req1,ST1);
fval

fval =
1.1327

The tracking requirement is nearly met, but the value exceeds 1, indicating a small violation. To further assess the violation, you can use viewGoal to visualize the requirement against the corresponding response of the tuned system.

Tuned control system, specified as a generalized state-space
(genss) model or an slTuner interface
to a Simulink® model. T is typically the result
of using the tuning goal to tune control system parameters with systune.

Output Arguments

Transfer function associated with the tuning goal, returned as a state-space
(ss) model. evalGoal uses
Hspec to compute the evaluated tuning goal,
fval.

For example, suppose Req is a TuningGoal.Gain goal
that limits the gain H(s) between
some specified input and output to the gain profile w(s).
In that case, Hspec is given by:

Hspec(s)=1w(s)H(s).

fval is the peak gain of Hspec.
If H(s) satisfies the tuning
goal, fval <= 1.

For more information about the transfer function associated
with the tuning goal, see the reference page for each tuning goal.

fval — Normalized value of tuning requirementpositive scalar

Normalized value of tuning requirement, returned as a positive
scalar. The normalized value is a measure of how closely the requirement
is met in the tuned system. The tuning requirement is satisfied if fval < 1. For information about
how each type of TuningGoal requirement is converted
into a normalized value, see the reference page for each tuning goal.

Tips

For MIMO feedback loops, the LoopShape, MinLoopGain,
MaxLoopGain, Margins,
Sensitivity, and Rejection goals are
sensitive to the relative scaling of each SISO loop.
systune tries to balance the overall loop-transfer
matrix while enforcing such goals. The optimal loop scaling is stored in the
tuned closed-loop model or slTuner interface
T returned by systune. For
consistency, evalGoal(R,T) applies this same scaling when
evaluating the tuning goals. To omit this scaling, use
evalGoal(R,clearTuningInfo(T)).

Modifying T might compromise the validity of the stored scaling. Therefore,
if you make significant modifications to T, retuning is
recommended to update the scaling data.

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